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                                <p>&#x8FD9;&#x91CC;&#x5C06;&#x4ECB;&#x7ECD;&#x4EFB;&#x52A1;(<code>task</code>)&#x4E0E;&#x534F;&#x7A0B;(<code>co-routines</code>)&#x7684;&#x76F8;&#x5173;&#x4FE1;&#x606F;&#xFF0C;&#x4F60;&#x53EF;&#x4EE5;&#x636E;&#x6B64;&#x5224;&#x65AD;&#x4EC0;&#x4E48;&#x65F6;&#x5019;&#x8BE5;&#x4F7F;&#x7528;&#x534F;&#x7A0B;&#xFF0C;&#x4EC0;&#x4E48;&#x65F6;&#x5019;&#x8BE5;&#x4F7F;&#x7528;&#x4EFB;&#x52A1;&#xFF0C;&#x6216;&#x4E24;&#x8005;&#x4E00;&#x8D77;&#x4F7F;&#x7528;&#x3002;<strong>&#x503C;&#x5F97;&#x6CE8;&#x610F;&#x7684;&#x662F;&#xFF0C;&#x5C3D;&#x7BA1;&#x4E8C;&#x8005;&#x4F7F;&#x7528;&#x7684;API&#x4E0D;&#x540C;&#xFF0C;&#x4F46;&#x662F;&#x5374;&#x65E0;&#x6CD5;&#x901A;&#x8FC7;&#x4F7F;&#x7528;&#x961F;&#x5217;&#x6216;&#x8005;&#x4FE1;&#x53F7;&#x91CF;&#x6765;&#x76F8;&#x4E92;&#x4F20;&#x9012;&#x6570;&#x636E;&#x3002;</strong>
&#x5BF9;&#x4E8E;&#x534F;&#x7A0B;&#xFF0C;&#x5B9E;&#x9645;&#x4E0A;&#x4EC5;&#x4EC5;&#x9488;&#x5BF9;&#x90A3;&#x4E9B;RAM&#x7A7A;&#x95F4;&#x5F88;&#x5C0F;&#x7684;&#x5D4C;&#x5165;&#x5F0F;&#x7CFB;&#x7EDF;&#xFF0C;&#x5426;&#x5219;&#x4E0D;&#x63A8;&#x8350;&#x4F7F;&#x7528;&#x3002;</p><h2 id="&#x4EFB;&#x52A1;&#x7684;&#x7279;&#x70B9;">&#x4EFB;&#x52A1;&#x7684;&#x7279;&#x70B9;</h2><p>&#x4F7F;&#x7528;RTOS&#x6784;&#x5EFA;&#x7684;&#x5B9E;&#x65F6;&#x5E94;&#x7528;&#x662F;&#x6709;&#x4E00;&#x7CFB;&#x5217;&#x7684;&#x4EFB;&#x52A1;&#x7EC4;&#x6210;&#xFF0C;&#x6BCF;&#x4E2A;&#x4EFB;&#x52A1;&#x5404;&#x81EA;&#x62E5;&#x6709;&#x81EA;&#x5DF1;&#x7684;&#x5806;&#x6808;&#x7528;&#x4E8E;&#x5B58;&#x50A8;&#x81EA;&#x5DF1;&#x7684;&#x8FD0;&#x884C;&#x4E0A;&#x4E0B;&#x6587;(<code>context</code>)&#x3002;&#x5728;&#x4EFB;&#x4F55;&#x65F6;&#x95F4;&#xFF0C;&#x6709;&#x4E14;&#x4EC5;&#x6709;&#x4E00;&#x4E2A;&#x4EFB;&#x52A1;&#x5728;&#x6267;&#x884C;&#x3002;&#x5177;&#x4F53;&#x54EA;&#x4E2A;&#x4EFB;&#x52A1;&#x53EF;&#x4EE5;&#x6267;&#x884C;&#xFF0C;&#x5219;&#x7531;&#x8C03;&#x5EA6;&#x5668;(<code>scheduler</code>)&#x51B3;&#x5B9A;&#x3002;&#x5F53;&#x4EFB;&#x52A1;&#x5207;&#x6362;&#x540E;&#xFF0C;&#x76F8;&#x5E94;&#x7684;&#x4E0A;&#x4E0B;&#x6587;&#x4E5F;&#x4F1A;&#x505A;&#x76F8;&#x5E94;&#x7684;&#x5207;&#x5165;&#x5207;&#x51FA;&#x3002;&#x4EFB;&#x52A1;&#x5177;&#x6709;&#x4EE5;&#x4E0B;&#x7279;&#x70B9;&#xFF1A;</p><ul><li>&#x7B80;&#x5355;
</li>
<li>&#x6CA1;&#x6709;&#x4F7F;&#x7528;&#x4E0A;&#x7684;&#x9650;&#x5236;
</li>
<li>&#x652F;&#x6301;&#x62A2;&#x5360;&#x5F0F;
</li>
<li>&#x4F18;&#x5148;&#x7EA7;&#x81F3;&#x4E0A;
</li>
<li>&#x6BCF;&#x4E2A;&#x4EFB;&#x52A1;&#x62E5;&#x6709;&#x72EC;&#x7ACB;&#x5806;&#x6808;&#xFF0C;&#x9020;&#x6210;RAM&#x5360;&#x7528;&#x8FC7;&#x9AD8;
</li>
<li>&#x91CD;&#x5165;&#x5728;&#x62A2;&#x5360;&#x5F0F;&#x7684;&#x60C5;&#x51B5;&#x4E0B;&#x9700;&#x8981;&#x989D;&#x5916;&#x6CE8;&#x610F;
</li></ul>
<h2 id="&#x534F;&#x7A0B;&#x7684;&#x7279;&#x70B9;">&#x534F;&#x7A0B;&#x7684;&#x7279;&#x70B9;</h2><p>&#x5982;&#x524D;&#x6240;&#x8FF0;&#xFF0C;&#x534F;&#x7A0B;&#x7684;&#x8BBE;&#x8BA1;&#x521D;&#x8877;&#x662F;&#x4E3A;&#x4E86;&#x90A3;&#x4E9B;&#x5185;&#x5B58;&#x8F83;&#x5C0F;&#x7684;&#x8BBE;&#x5907;&#x51C6;&#x5907;&#x7684;&#xFF0C;&#x4F46;&#x662F;&#x5982;&#x4ECA;&#x589E;&#x5F3A;&#x578B;&#x7684;51RAM&#x90FD;&#x53EF;&#x4EE5;&#x8FBE;&#x5230;&#x51E0;&#x5341;K&#x7684;&#x60C5;&#x51B5;&#x4E0B;&#xFF0C;&#x534F;&#x7A0B;&#x4F7F;&#x7528;&#x7684;&#x5FC5;&#x8981;&#x5176;&#x5B9E;&#x662F;&#x8D8A;&#x6765;&#x8D8A;&#x5C0F;&#x7684;&#x3002;&#x4E0D;&#x8FC7;&#xFF0C;&#x534F;&#x7A0B;&#x8FD9;&#x4E00;&#x673A;&#x5236;&#x4ECD;&#x7136;&#x88AB;&#x4FDD;&#x7559;&#x4E0B;&#x6765;&#xFF0C;freeRTOS&#x5B98;&#x65B9;&#x540E;&#x7EED;&#x867D;&#x7136;&#x6CA1;&#x6709;&#x79FB;&#x9664;&#x534F;&#x7A0B;&#x7684;&#x8BA1;&#x5212;&#xFF0C;&#x4F46;&#x662F;&#x4E5F;&#x662F;&#x4E0D;&#x4F1A;&#x518D;&#x53BB;&#x5F00;&#x53D1;&#x4E86;&#x3002;
&#x534F;&#x7A0B;&#x4E0E;&#x4EFB;&#x52A1;&#x5728;&#x6982;&#x5FF5;&#x4E0A;&#x662F;&#x76F8;&#x4F3C;&#x7684;&#xFF1A;</p><ol><li><p>&#x5806;&#x6808;&#x5229;&#x7528;
&#x591A;&#x6709;&#x7684;&#x534F;&#x7A0B;&#x5728;&#x7CFB;&#x7EDF;&#x5185;&#x5171;&#x7528;&#x540C;&#x4E00;&#x4E2A;&#x5806;&#x6808;&#xFF0C;&#x76F8;&#x6BD4;&#x4F7F;&#x7528;&#x4EFB;&#x52A1;&#x8282;&#x7701;&#x4E86;&#x5F88;&#x591A;&#x7684;&#x5185;&#x5B58;&#x5360;&#x7528;&#x3002;</p></li>
<li><p>&#x4F18;&#x5148;&#x7EA7;&#x53CA;&#x8C03;&#x5EA6;
Co-routines use prioritised cooperative scheduling with respect to other co-routines, but can be included in an application that uses preemptive tasks</p></li>
<li><p>&#x5B8F;&#x5B9E;&#x73B0;
&#x534F;&#x7A0B;&#x662F;&#x7531;&#x4E00;&#x7CFB;&#x5217;&#x7684;&#x5B8F;&#x5B9E;&#x73B0;&#x7684;</p></li>
<li><p>&#x4F7F;&#x7528;&#x9650;&#x5236;
&#x51CF;&#x5C11;&#x5185;&#x5B58;&#x5360;&#x7528;&#x7684;&#x540C;&#x65F6;&#xFF0C;&#x5BF9;&#x534F;&#x7A0B;&#x7684;&#x4F7F;&#x7528;&#x4E5F;&#x5B58;&#x5728;&#x4E00;&#x4E9B;&#x9650;&#x5236;</p></li></ol>
<p>&#x534F;&#x7A0B;&#x5177;&#x6709;&#x5982;&#x4E0B;&#x7279;&#x70B9;&#xFF1A;</p><ul><li>&#x5171;&#x7528;&#x540C;&#x4E00;&#x5806;&#x6808;&#xFF0C;&#x51CF;&#x5C11;&#x5185;&#x5B58;&#x5360;&#x7528;
</li>
<li>&#x534F;&#x7A0B;&#x4F7F;&#x5F97;&#x91CD;&#x5165;&#x53D8;&#x5C11;
</li>
<li>&#x5728;&#x5404;&#x79CD;&#x67B6;&#x6784;&#x4E0A;&#x90FD;&#x53EF;&#x4EE5;&#x8F7B;&#x677E;&#x79FB;&#x690D;
</li>
<li>&#x534F;&#x7A0B;&#x4E4B;&#x95F4;&#x4E5F;&#x662F;&#x901A;&#x8FC7;&#x4F18;&#x5148;&#x7EA7;&#x8C03;&#x5EA6;&#xFF0C;&#x4F46;&#x662F;&#x5982;&#x679C;&#x4E0E;&#x4EFB;&#x52A1;&#x6DF7;&#x7528;&#xFF0C;&#x603B;&#x662F;&#x4F1A;&#x88AB;&#x4EFB;&#x52A1;&#x62A2;&#x5360;
</li>
<li>&#x5806;&#x6808;&#x7A7A;&#x95F4;&#x532E;&#x4E4F;&#x9700;&#x8981;&#x989D;&#x5916;&#x6168;&#x7387;
</li>
<li>API&#x8C03;&#x7528;&#x7684;&#x4F4D;&#x7F6E;&#x5B58;&#x5728;&#x9650;&#x5236;
</li>
<li>Co-operative operation only amongst co-routines themselves.
</li></ul>

                                
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